A three-dimensional map construction method, system, mobile robot and storage medium

Abstract

Embodiments of the present application provide a three-dimensional map construction method and system, a mobile robot and a storage medium, which are applied to a sensing subsystem of the mobile robot. The mobile robot further comprises a driving subsystem, and the sensing subsystem is detachably connected with the driving subsystem. The method comprises the following steps: monitoring the connection between the sensing subsystem and the driving subsystem; collecting first sensing data if the connection between the sensing subsystem and the driving subsystem is interrupted; and constructing a first three-dimensional map by using the first sensing data. In this way, the problem of low completeness of the three-dimensional map constructed by three-dimensional environment modeling due to the limited view of the mobile robot is solved.

Description

Technical Field

[0001] This application relates to the field of machine vision technology, and in particular to a three-dimensional map construction method, system, mobile robot, and storage medium. Background Technology

[0002] With the development of machine vision technology, more and more mobile robots are equipped with image sensors to perform artificial intelligence recognition of objects and scenes. With the installation of image sensors, mobile robots have the ability to model three-dimensional environments.

[0003] However, due to the limitations of the mobile robot's perspective, the mobile robot cannot observe information on the plane above a certain height, and therefore cannot complete the 3D environment modeling in this scene, which in turn reduces the completeness of the 3D map constructed from the 3D environment modeling. Summary of the Invention

[0004] The purpose of this application is to provide a 3D map construction method, system, mobile robot, and storage medium to solve the problem of low completeness of 3D maps constructed from 3D environment modeling due to the limited field of view of the mobile robot. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a three-dimensional map construction method applied to a sensing subsystem of a mobile robot, wherein the mobile robot further includes a driving subsystem, and the sensing subsystem is detachably connected to the driving subsystem. The method includes:

[0006] Monitor the connection between the sensing subsystem and the drive subsystem;

[0007] If an interruption in the connection between the sensing subsystem and the driving subsystem is detected, the first sensing data is collected.

[0008] A first three-dimensional map is constructed using the first sensor data.

[0009] Optionally, the step of constructing a first three-dimensional map using the first sensor data includes:

[0010] The first sensing data is sent to a preset device so that the preset device can construct a first three-dimensional map that matches the first sensing data. The preset device is a terminal or a server.

[0011] If the connection between the sensing subsystem and the driving subsystem is restored, the first three-dimensional map constructed by the preset device is obtained.

[0012] Optionally, the method further includes:

[0013] If the first three-dimensional map constructed by the preset device is not obtained, the first three-dimensional map matching the first sensing data is reconstructed using the system-on-a-chip (SOC) in the sensing subsystem.

[0014] Optionally, the step of constructing a first three-dimensional map using the first sensor data includes:

[0015] Using the system-on-a-chip (SOC) in the sensing subsystem, a first three-dimensional map matching the first sensing data is constructed.

[0016] Optionally, after obtaining the first 3D map, the method further includes:

[0017] The first 3D map is sent to the preset device so that the preset device can display the first 3D map, the first 3D map including hollow areas, and the preset device is a terminal or a server;

[0018] Collect second sensor data of the cavity region;

[0019] Using the second sensor data, the hollow areas in the first three-dimensional map are constructed to obtain a second three-dimensional map.

[0020] Optionally, the preset device has a display screen for displaying a three-dimensional map.

[0021] Optionally, the method further includes:

[0022] If the connection between the sensing subsystem and the driving subsystem is detected to be uninterrupted, the driving subsystem is controlled to move using the 3D map stored in the sensing subsystem; or,

[0023] If the connection between the sensing subsystem and the driving subsystem is not interrupted and the sensing subsystem does not store a 3D map, then the third 3D map is constructed and stored using the third sensing data stored in the sensing subsystem; the driving subsystem is then controlled to move using the third 3D map stored in the sensing subsystem.

[0024] Optionally, in the process of controlling the movement of the drive subsystem using the 3D map stored in the sensing subsystem, the method further includes:

[0025] Collect fourth sensor data, which corresponds to the area to be updated in the three-dimensional map stored in the sensing subsystem;

[0026] If the fourth sensor data is different from the sensor data used to construct the region to be updated, then the region to be updated is reconstructed using the fourth sensor data.

[0027] Optionally, the method further includes:

[0028] Receive a fourth three-dimensional map sent by the preset device, wherein the fourth three-dimensional map is a three-dimensional map constructed by the preset device based on the sensor data collected by the preset device, and the preset device is a terminal or a server;

[0029] The target 3D map is determined from the fourth 3D map and the 3D maps stored in the sensing subsystem;

[0030] The movement of the drive subsystem is controlled using the target 3D map.

[0031] Optionally, the step of determining the target 3D map from the fourth 3D map and the 3D map stored in the sensing subsystem includes:

[0032] The 3D map with the latest construction time is determined from the fourth 3D map and the 3D maps stored in the sensing subsystem, and is used as the target 3D map.

[0033] Optionally, the step of monitoring the connection between the sensing subsystem and the driving subsystem includes:

[0034] Monitor the electrical signals transmitted from the drive subsystem to the sensing subsystem;

[0035] If the electrical signal is detected, it is determined that the connection between the sensing subsystem and the driving subsystem is not interrupted;

[0036] If the electrical signal is not detected, it is determined that the connection between the sensing subsystem and the driving subsystem is interrupted.

[0037] Secondly, embodiments of this application provide a sensing subsystem, which is a subsystem of a mobile robot. The mobile robot further includes a drive subsystem, and the sensing subsystem is detachably connected to the drive subsystem. The sensing subsystem includes:

[0038] The monitoring module is used to monitor the connection between the sensing subsystem and the driving subsystem;

[0039] The acquisition module is used to acquire first sensing data if the connection between the sensing subsystem and the driving subsystem is detected to be interrupted.

[0040] A processor is used to construct a first three-dimensional map using the first sensor data.

[0041] Optionally, the sensing subsystem further includes a communication module, wherein:

[0042] The communication module is used to send the first sensing data to a preset device so that the preset device can construct a first three-dimensional map that matches the first sensing data. The preset device is a terminal or a server.

[0043] The processor is further configured to acquire the first three-dimensional map constructed by the preset device through the communication module if the connection between the sensing subsystem and the driving subsystem is restored.

[0044] Optionally, the processor is further configured to:

[0045] If the first three-dimensional map constructed by the preset device is not obtained, then the first three-dimensional map that matches the first sensing data is reconstructed.

[0046] Optionally, the processor is further configured to:

[0047] After the first three-dimensional map is constructed, it is sent to the preset device through the communication module so that the preset device can display the first three-dimensional map, which includes hollow areas.

[0048] The acquisition module collects second sensor data of the cavity area;

[0049] Using the second sensor data, the hollow areas in the first three-dimensional map are constructed to obtain a second three-dimensional map.

[0050] Optionally, the sensing subsystem further includes:

[0051] The control module is configured to, if it detects that the connection between the sensing subsystem and the drive subsystem is uninterrupted, control the movement of the drive subsystem using a 3D map stored in the sensing subsystem; or,

[0052] The control module is configured to, if it detects that the connection between the sensing subsystem and the driving subsystem is not interrupted and that the sensing subsystem does not store a 3D map, construct and store a third 3D map using the third sensing data stored in the sensing subsystem; and control the driving subsystem to move using the third 3D map stored in the sensing subsystem.

[0053] Optionally, the control module is further configured to:

[0054] During the process of controlling the movement of the drive subsystem using the 3D map stored in the sensing subsystem, the acquisition module collects fourth sensing data, which corresponds to the area to be updated in the 3D map stored in the sensing subsystem.

[0055] If the fourth sensor data is different from the sensor data used to construct the region to be updated, then the region to be updated is reconstructed using the fourth sensor data.

[0056] Optionally, the processor is further configured to:

[0057] The communication module receives a fourth 3D map sent by a preset device. The fourth 3D map is a 3D map constructed by the preset device based on the sensor data collected by the preset device. The preset device is a terminal or a server.

[0058] The target 3D map is determined from the fourth 3D map and the 3D maps stored in the sensing subsystem.

[0059] Optionally, the processor is specifically used for:

[0060] The 3D map with the latest construction time is determined from the fourth 3D map and the 3D maps stored in the sensing subsystem, and is used as the target 3D map.

[0061] Optionally, the monitoring module is specifically used for:

[0062] Monitor the electrical signals transmitted from the drive subsystem to the sensing subsystem;

[0063] If the electrical signal is detected, it is determined that the connection between the sensing subsystem and the driving subsystem is not interrupted;

[0064] If the electrical signal is not detected, it is determined that the connection between the sensing subsystem and the driving subsystem is interrupted.

[0065] Thirdly, embodiments of this application provide a sensing subsystem, including a memory and a processor, wherein the memory stores computer program instructions; and the processor is configured to execute the instructions stored in the memory to perform any of the steps of the three-dimensional map construction method described above.

[0066] Fourthly, embodiments of this application provide a mobile robot, including a sensing subsystem and a driving subsystem, wherein the sensing subsystem is detachably connected to the driving subsystem;

[0067] The sensing subsystem is used to monitor the connection between the sensing subsystem and the driving subsystem; if the connection between the sensing subsystem and the driving subsystem is interrupted, first sensing data is collected; and a first three-dimensional map is constructed using the first sensing data.

[0068] Fifthly, embodiments of this application provide a three-dimensional map construction system, including a mobile robot and a preset device, wherein the preset device is a terminal or a server;

[0069] The mobile robot includes a sensing subsystem and a drive subsystem, wherein the sensing subsystem is detachably connected to the drive subsystem; the sensing subsystem is used to monitor the connection between the sensing subsystem and the drive subsystem; if the connection between the sensing subsystem and the drive subsystem is detected to be interrupted, first sensing data is collected; and a first three-dimensional map is constructed using the first sensing data.

[0070] The terminal is used to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map matching the first sensing data; display the first three-dimensional map; and send the first three-dimensional map to the sensing subsystem.

[0071] The server is configured to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map matching the first sensing data; and send the first three-dimensional map to the sensing subsystem.

[0072] Sixthly, embodiments of this application provide a three-dimensional map building system, including a mobile robot, a terminal, and a server;

[0073] The mobile robot includes a sensing subsystem and a drive subsystem, wherein the sensing subsystem is detachably connected to the drive subsystem; the sensing subsystem is used to monitor the connection between the sensing subsystem and the drive subsystem; if the connection between the sensing subsystem and the drive subsystem is detected to be interrupted, first sensing data is collected; and a first three-dimensional map is constructed using the first sensing data.

[0074] The terminal is used to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map matching the first sensing data; display the first three-dimensional map; and send the first three-dimensional map to the sensing subsystem.

[0075] The server is configured to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map matching the first sensing data; and send the first three-dimensional map to the sensing subsystem.

[0076] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the steps of the three-dimensional map construction method described above.

[0077] Eighthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the steps of the three-dimensional map construction method described above.

[0078] Beneficial effects of the embodiments in this application:

[0079] In the technical solution provided in this application embodiment, the mobile robot includes a sensing subsystem and a drive subsystem, and the sensing subsystem is detachably connected to the drive subsystem. When the sensing subsystem monitors the connection between the sensing subsystem and the drive subsystem, if it detects an interruption in the connection, it collects sensing data (i.e., first sensing data). Thus, because the connection between the sensing subsystem and the drive subsystem is interrupted, the sensing subsystem is not affected by the drive subsystem when collecting the first sensing data; that is, it is not limited by the mobile robot's viewpoint. In this case, the area corresponding to the first sensing data collected by the sensing subsystem is more comprehensive. The sensing subsystem uses the first sensing data to construct a 3D map (i.e., a first 3D map), which can result in a higher degree of completeness of the first 3D map, solving the problem of low completeness of the 3D map constructed due to the limited viewpoint of the mobile robot.

[0080] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0081] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0082] Figure 1 This is a schematic diagram of a first structure of the sensing subsystem provided in an embodiment of this application;

[0083] Figure 2 A schematic diagram of the drive subsystem provided in an embodiment of this application;

[0084] Figure 3 This is a schematic diagram of a first process for a three-dimensional map construction method provided in an embodiment of this application;

[0085] Figure 4 This is a second flowchart illustrating the three-dimensional map construction method provided in the embodiments of this application;

[0086] Figure 5 A schematic diagram illustrating the connection between the sensing subsystem and a preset device provided in an embodiment of this application;

[0087] Figure 6 This is a schematic diagram of a third process for a three-dimensional map construction method provided in an embodiment of this application;

[0088] Figure 7This is a schematic diagram of the fourth process of the three-dimensional map construction method provided in the embodiments of this application;

[0089] Figure 8 A fifth flowchart illustrating the three-dimensional map construction method provided in this application embodiment;

[0090] Figure 9 A sixth flowchart illustrating the three-dimensional map construction method provided in this application embodiment;

[0091] Figure 10 A seventh flowchart illustrating the three-dimensional map construction method provided in this application embodiment;

[0092] Figure 11 This is an eighth flowchart illustrating the three-dimensional map construction method provided in this application embodiment;

[0093] Figure 12 A ninth flowchart illustrating the three-dimensional map construction method provided in this application embodiment;

[0094] Figure 13 This is a schematic diagram of a second structure of the sensing subsystem provided in an embodiment of this application;

[0095] Figure 14 This is a schematic diagram of a third structure of the sensing subsystem provided in an embodiment of this application;

[0096] Figure 15 This is a schematic diagram of a first structure of a three-dimensional map construction system provided in an embodiment of this application;

[0097] Figure 16 This is a schematic diagram of a second structure of the three-dimensional map building system provided in the embodiments of this application. Detailed Implementation

[0098] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0099] For ease of understanding, the terms appearing in the embodiments of this application are explained below.

[0100] Mobile robot: A system with free movement and detection capabilities, including a sensing subsystem and a drive subsystem. In the embodiments of this application, the mobile robot may be a cleaning robot, a navigation robot, or a robot with other functions, and there is no limitation on this.

[0101] Sensing Subsystem: In mobile robots, the system consisting of components such as Bluetooth, Wi-Fi antenna, camera, IMU (Inertial Measurement Unit), SOC (System-on-a-Chip), and battery is called the sensing subsystem. Figure 1 As shown.

[0102] Drive Subsystem: In a mobile robot, the system consisting of circuit hardware, sensors, actuators, and other structures is called the drive subsystem. Sensors connect to the sensing subsystem, and actuators drive the drive subsystem itself to move, thus moving the mobile robot. Taking a cleaning robot as an example, the drive subsystem's appearance is as follows... Figure 2 As shown.

[0103] 3D Map: A 3D stereoscopic map, simply put, is a three-dimensional image that uses the difference in visual perception between the two eyes and the principle of optical refraction to allow people to see a three-dimensional picture directly on a plane. The objects in the picture can either protrude from the picture or be hidden in it, giving people a strong visual impact.

[0104] SOC: Also known as System on a Chip, it means that it is a product, an integrated circuit with a specific purpose, which contains a complete system and all the embedded software.

[0105] Hollow areas: During the data acquisition process, the sensing subsystem may fail to acquire or update data in some areas due to limited viewing angles or other reasons, making it impossible to construct a 3D model of these areas. These areas are called hollow areas.

[0106] Electrical signal: refers to a signal that is carried by voltage, current, electromagnetic waves, etc.

[0107] Image sensor: Utilizes the photoelectric conversion function of optoelectronic devices to convert the light image on the photosensitive surface into an electrical signal proportional to the light image. Cameras use image sensors to generate images.

[0108] With the development of machine vision technology, more and more mobile robots are equipped with image sensors to perform artificial intelligence recognition of objects and scenes. With the installation of image sensors, mobile robots have the ability to model three-dimensional environments.

[0109] However, due to the limitations of the mobile robot's perspective, it cannot observe information on a plane above a certain height. For example, a cleaning robot cannot observe the decorations on a table or the objects on a TV cabinet. Consequently, the mobile robot cannot complete the 3D environment modeling in that scenario, reducing the completeness of the 3D map constructed from the 3D environment modeling.

[0110] To address the aforementioned issues, this application provides a three-dimensional map construction method that can be applied to the sensing subsystem of a mobile robot, wherein the sensing subsystem is detachably connected to the drive subsystem.

[0111] In this 3D map construction method, the mobile robot includes a sensing subsystem and a drive subsystem, and the sensing subsystem is detachably connected to the drive subsystem. When the sensing subsystem monitors the connection between the sensing and drive subsystems, if an interruption is detected, it collects sensing data (i.e., first sensing data). Thus, due to the interruption in the connection, the sensing subsystem is not affected by the drive subsystem when collecting the first sensing data; that is, it is not limited by the mobile robot's viewpoint. In this case, the area corresponding to the first sensing data collected by the sensing subsystem is more comprehensive. The sensing subsystem uses the first sensing data to construct a 3D map (i.e., the first 3D map), which results in a higher degree of completeness, solving the problem of low completeness of 3D maps constructed from 3D environment modeling caused by the limited viewpoint of the mobile robot.

[0112] The three-dimensional map construction method provided in this application will be described in detail below through specific embodiments. For example... Figure 3 The illustrated 3D map construction method is applied to the sensing subsystem of a mobile robot, which also includes a drive subsystem. The sensing subsystem can be detachably connected to the drive subsystem; that is, the sensing subsystem can be combined with the drive subsystem to form a complete mobile robot, or the sensing subsystem can be separated from the drive subsystem as two independent devices. In this embodiment, the sensing subsystem and the drive subsystem can be structurally and electrically connected. The structural connection ensures a stable connection between the sensing subsystem and the drive subsystem, preventing the sensing subsystem from detaching from the drive subsystem during movement. This structural connection includes snap-fit ​​connections, threaded connections, etc. The electrical connection allows the transmission of electrical signals between the sensing subsystem and the drive subsystem, enabling the sensing subsystem to control the movement of the drive subsystem, and allowing sensors and actuators in the drive subsystem to connect to the sensing subsystem.

[0113] In this embodiment, the sensing subsystem is detachably connected to the drive subsystem, enabling the separate design of the mobile robot's drive control function and 3D mapping module. By combining and separating the sensing and drive subsystems, different functions can be achieved, realizing multi-purpose functionality. For example, combining the sensing and drive subsystems enables the mobile robot to perform fixed tasks, such as cleaning tasks for a cleaning robot; or, by separating the sensing and drive subsystems, the sensing subsystem can function as a regular camera, update the 3D map, or act as a surveillance camera for monitoring purposes.

[0114] The above-mentioned 3D map construction method includes the following steps:

[0115] Step S31: Monitor the connection between the sensing subsystem and the drive subsystem.

[0116] In this embodiment of the application, the sensing subsystem can monitor the connection between the sensing subsystem and the driving subsystem in real time and determine whether the connection between the sensing subsystem and the driving subsystem is interrupted.

[0117] In an optional embodiment, the sensor in the drive subsystem transmits an electrical signal to the sensing subsystem. In this case, step S31 above can be: the sensing subsystem monitors the electrical signal transmitted by the sensor in the drive subsystem; if the sensing subsystem detects the electrical signal, it can be considered that the connection between the sensing subsystem and the drive subsystem is normal, i.e., not interrupted; otherwise, it is considered that the connection between the sensing subsystem and the drive subsystem is interrupted.

[0118] In another optional embodiment, step S31 above may be: the sensing subsystem acquires an image and analyzes the acquired image; if the analysis result indicates that the acquired image includes the driving subsystem, it indicates that the connection between the sensing subsystem and the driving subsystem is interrupted; otherwise, it is considered that the connection between the sensing subsystem and the driving subsystem is normal.

[0119] In this embodiment, the sensing subsystem can also implement step S31 in other ways. For example, if the sensing subsystem detects an interrupt signal sent by a preset device, it determines that the connection between the sensing subsystem and the driving subsystem is interrupted; otherwise, it determines that the connection between the sensing subsystem and the driving subsystem is normal. The preset device can be a terminal or a server.

[0120] Step S32: If an interruption in the connection between the sensing subsystem and the drive subsystem is detected, the first sensing data is collected.

[0121] In this embodiment of the application, the first sensing data can be sensing data collected by the sensing subsystem based on the SOC through an IMU or an image sensor in a camera, etc. The sensing data can be an image or a video, and there is no limitation on this.

[0122] If the sensing subsystem detects a connection interruption between itself and the drive subsystem, it indicates that the sensing subsystem and the drive subsystem have separated. When the sensing subsystem detects a connection interruption, the user can move the sensing subsystem without being restricted by the drive subsystem, allowing it to collect more comprehensive and complete first-sensor data. This includes collecting information about planes above a certain height that would be impossible to observe when the connection between the sensing subsystem and the drive subsystem is normal, and storing the collected first-sensor data within the sensing subsystem. The user can move the sensing subsystem by holding it and moving it, or by periodically placing it in one location to allow it to collect first-sensor data; there are no restrictions on this method.

[0123] Step S33: Construct a first three-dimensional map using the first sensor data.

[0124] The sensing subsystem can use the first sensing data to construct a first three-dimensional map and save the constructed first three-dimensional map in the sensing subsystem, such as in the SOC mentioned above.

[0125] After the sensing subsystem finishes collecting the first set of sensing data, the connection between the sensing subsystem and the drive subsystem is restored. In other words, the connection between the sensing subsystem and the drive subsystem returns to normal, and the two subsystems recombine to form a complete mobile robot with free movement and detection capabilities. Then, the mobile robot uses the first 3D map to move, work, and locate itself.

[0126] The fact that the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is uninterrupted, or that the connection between the sensing subsystem and the drive subsystem was interrupted and then restored, can both be considered as indicating that the connection between the sensing subsystem and the drive subsystem is uninterrupted. In an optional embodiment, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is uninterrupted, and the sensing subsystem stores a 3D map (e.g., a first 3D map), then the sensing subsystem can use the first 3D map stored in the sensing subsystem to determine the navigation route and plan for the mobile robot, and the sensing subsystem controls the drive subsystem to move according to the navigation route and plan.

[0127] In the technical solution provided in this application embodiment, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is not interrupted, the drive subsystem is controlled to move using the 3D map stored in the sensing subsystem. This allows the mobile robot to function using the 3D map constructed by the sensing subsystem.

[0128] In the technical solution provided in this application embodiment, the mobile robot includes a sensing subsystem and a drive subsystem, and the sensing subsystem is detachably connected to the drive subsystem. When the sensing subsystem monitors the connection between the sensing subsystem and the drive subsystem, if it detects an interruption in the connection, it collects sensing data (i.e., first sensing data). Thus, because the connection between the sensing subsystem and the drive subsystem is interrupted, the sensing subsystem is not affected by the drive subsystem when collecting the first sensing data; that is, it is not limited by the mobile robot's viewpoint. In this case, the area corresponding to the first sensing data collected by the sensing subsystem is more comprehensive. The sensing subsystem uses the first sensing data to construct a 3D map (i.e., a first 3D map), which can result in a higher degree of completeness of the first 3D map, solving the problem of low completeness of the 3D map constructed due to the limited viewpoint of the mobile robot.

[0129] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 4 As shown, the method may include steps S41-S44. Steps S41 and S42 are the same as steps S31 and S32 described above, and will not be repeated here. Steps S43 and S44 are one possible implementation of step S33.

[0130] Step S43: The first sensing data is sent to a preset device so that the preset device can construct a first three-dimensional map that matches the first sensing data.

[0131] In this embodiment of the application, the preset device can be a terminal such as a PC (Personal Computer), tablet computer, or mobile device, or it can be a server; there is no limitation on this.

[0132] The sensing subsystem may transmit the first sensing data in ways including but not limited to Bluetooth, wireless LAN, etc., and there are no restrictions on this.

[0133] The sensing subsystem sends the collected first sensing data to a preset device, which can then construct a first three-dimensional map that matches the first sensing data based on the received first sensing data.

[0134] In an optional embodiment, the preset device may have a display screen for displaying a 3D map. For example... Figure 5As shown, the sensing subsystem sends the collected first sensing data to a preset device, which then displays the constructed 3D map. During the process of constructing the first 3D map matching the first sensing data, the preset device can display the constructed 3D map in real time through an interface provided by the display screen. The user can determine the empty areas in the 3D map displayed on the screen of the preset device, and then control the sensing subsystem to move and collect sensing data from the empty areas. The sensing subsystem also sends this portion of sensing data as the first sensing data to the preset device. The preset device constructs a complete first 3D map without empty areas based on the improved first sensing data. In this embodiment, the preset device displays the 3D map in the form of a display screen, facilitating the user's real-time observation of the 3D map, guiding the user to complete the construction of the 3D map, and improving user-friendliness.

[0135] Step S44: If the connection between the sensing subsystem and the drive subsystem is restored, then the first three-dimensional map constructed by the preset device is obtained.

[0136] If the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem has been restored, it acquires the first three-dimensional map constructed by the preset device.

[0137] In the technical solution provided in this application embodiment, the sensing subsystem sends first sensing data to a preset device, so that the preset device constructs a first three-dimensional map matching the first sensing data; after detecting that the connection between the sensing subsystem and the driving subsystem has been restored, the constructed first three-dimensional map is obtained from the preset device. Since the first three-dimensional map obtained in this way is constructed by the preset device, the resource consumption of the sensing subsystem constructing the three-dimensional map locally is reduced, thus reducing the burden on the sensing subsystem.

[0138] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 6 As shown, the method may include steps S61-S65. Steps S61-S64 are the same as steps S41-S44 described above, and will not be repeated here.

[0139] Step S65: If the first three-dimensional map constructed by the preset device is not obtained, the first three-dimensional map matching the first sensing data is reconstructed using the SOC in the sensing subsystem.

[0140] There are several reasons why the sensing subsystem may fail to acquire the first 3D map constructed by the preset device. For example, there may be an abnormal connection between the sensing subsystem and the preset device, or there may be an anomaly in the 3D map constructed by the preset device.

[0141] In this embodiment of the application, if the sensing subsystem fails to acquire the first three-dimensional map constructed by the preset device, it can use the SOC in the sensing subsystem and the first sensing data stored locally in the sensing subsystem to reconstruct the first three-dimensional map that matches the first sensing data.

[0142] In the technical solution provided in this application embodiment, when the first three-dimensional map cannot be obtained from the preset device, the sensing subsystem uses the local SOC to construct the first three-dimensional map. That is, even if the preset device is abnormal or the connection between the sensing subsystem and the preset device is abnormal, the sensing subsystem can still obtain the first three-dimensional map, ensuring the normal operation of the mobile robot.

[0143] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 7 As shown, the method may include steps S71-S73. Steps S71 and S72 are the same as steps S31 and S32 described above, and will not be repeated here. Step S73 is one possible implementation of step S33.

[0144] Step S73: Using the SOC in the sensing subsystem, construct a first three-dimensional map that matches the first sensing data.

[0145] In this embodiment of the application, the sensing subsystem directly utilizes the SOC in the sensing subsystem to construct a first three-dimensional map that matches the first sensing data.

[0146] In the technical solution provided in this application embodiment, the sensing subsystem directly utilizes the SOC within the sensing subsystem to construct a first three-dimensional map that matches the first sensing data. This reduces connections to external systems and increases the security of the sensing subsystem.

[0147] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 8 As shown, the method may include steps S81-S86. Steps S81 and S83 are the same as steps S71-S73 described above, and will not be repeated here.

[0148] Step S84: Send the first three-dimensional map to a preset device so that the preset device can display the first three-dimensional map, which includes hollow areas.

[0149] In this embodiment of the application, if the sensor subsystem's viewpoint is restricted during the construction of the first three-dimensional map, or if the three-dimensional environment in the area corresponding to the first sensing data in the first three-dimensional map changes, there may be empty areas in the first three-dimensional map.

[0150] After the sensing subsystem constructs a first 3D map that matches the first sensing data using the SOC, it can send the first 3D map to a preset device via Bluetooth or Wi-Fi. Upon receiving the first 3D map, the preset device displays the first 3D map, including areas with holes, to the user.

[0151] Step S85: Collect second sensor data of the cavity area.

[0152] During the process of displaying the first 3D map on the preset device, the user can use the sensing subsystem to collect the sensing data corresponding to the hole areas in the displayed first 3D map, which is the second sensing data.

[0153] In an optional embodiment, the preset device may have a display screen for displaying a 3D map. During the process of the preset device collecting second sensing data on the void area, the user can determine the void area in the 3D map displayed on the display screen according to the display screen in the preset device. The user can use the sensing subsystem to collect the sensing data corresponding to the void area and send it to the preset device as second transmission data, so that the preset device can construct a second 3D map based on the second transmission data.

[0154] Step S86: Using the second sensor data, construct the empty areas in the first three-dimensional map to obtain the second three-dimensional map.

[0155] After acquiring the second sensing data, the sensing subsystem can use the second sensing data to construct the empty areas in the first three-dimensional map, and reconstruct the first three-dimensional map of the empty areas, which is the second three-dimensional map.

[0156] In the technical solution provided in this application embodiment, the sensing subsystem sends a first 3D map to a preset device so that the preset device can display the first 3D map. The sensing subsystem collects second sensing data corresponding to the hole areas and uses the second sensing data to construct the hole areas in the 3D map, thus obtaining a second 3D map. In this way, when hole areas exist in the first 3D map, the sensing subsystem can update only the hole areas in the first 3D map based on the second sensing data corresponding to the hole areas, instead of updating the entire first 3D map, reducing the resource consumption of the sensing subsystem. Simultaneously, the second 3D map obtained by reconstructing the hole areas does not contain any hole areas, facilitating the sensing subsystem to accurately control and position the mobile robot using this second 3D map.

[0157] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 9As shown, the method may include steps S91-S95. Steps S91-S93 are the same as steps S31-S33 described above, and will not be repeated here.

[0158] Step S94: If it is detected that the connection between the sensing subsystem and the drive subsystem is not interrupted and the sensing subsystem does not store a 3D map, then the third 3D map is constructed and stored using the third sensing data stored in the sensing subsystem.

[0159] After monitoring the connection between the sensing subsystem and the drive subsystem, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is not interrupted, it checks whether a 3D map is stored in the sensing subsystem. If it detects that no 3D map is stored in the sensing subsystem, the sensing subsystem can acquire the sensing data stored in the sensing subsystem (i.e., third sensing data) and use the third sensing data to construct a third 3D map, and then execute step S95. The sensing subsystem can save the constructed third 3D map in the SOC.

[0160] If a 3D map is detected stored in the sensing subsystem, the stored 3D map can be used as the third 3D map, and step S95 can be executed.

[0161] Step S95: Use the third 3D map stored in the sensing subsystem to control the movement of the drive subsystem.

[0162] The sensing subsystem can use the third-dimensional map stored in the sensing subsystem to determine the navigation route and plan of the mobile robot, and control the movement of the drive subsystem according to the navigation route and plan.

[0163] In the technical solution provided in this application, if the sensing subsystem detects that the connection between the sensing subsystem and the driving subsystem is not interrupted, and the sensing subsystem does not store a 3D map, then it uses the third sensing data stored in the sensing subsystem to construct and store a third 3D map. Subsequently, the sensing subsystem uses the stored third 3D map to control the movement of the driving subsystem. In this way, after the sensing subsystem and the driving subsystem are combined into a complete mobile robot, even if the sensing subsystem does not store a 3D map, it can still use the third sensing data stored in the sensing subsystem to realize the functions of the mobile robot.

[0164] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 10 As shown, the method may include steps S101-S107. Steps S101-S105 are the same as steps S91-S95 above, and will not be described again here.

[0165] In step S106, during the process of controlling the movement of the drive subsystem using the 3D map stored in the sensing subsystem, fourth sensing data is collected, and the fourth sensing data corresponds to the area to be updated in the 3D map stored in the sensing subsystem.

[0166] The 3D map stored in the sensing subsystem here can be the first 3D map, the second 3D map, or the third 3D map mentioned above.

[0167] In this embodiment, when the connection between the sensing subsystem and the driving subsystem remains uninterrupted, and the sensing subsystem uses the 3D map stored in the sensing subsystem to control the movement of the driving subsystem, the sensing subsystem continues to collect sensing data. The sensing data collected in this case can be referred to as fourth sensing data. Regarding the 3D map stored in the sensing subsystem, the area in the 3D map corresponding to the fourth sensing data can be called the area to be updated. The fourth sensing data changes as the driving subsystem moves, and correspondingly, the area to be updated also changes as the driving subsystem moves.

[0168] Step S107: If the fourth sensor data is different from the sensor data used to construct the area to be updated, then the area to be updated is reconstructed using the fourth sensor data.

[0169] In this embodiment, the sensing subsystem acquires the sensing data stored in the sensing subsystem for constructing the region to be updated, and compares it with the fourth sensing data. If the fourth sensing data is different from the sensing data for constructing the region to be updated, it indicates that the three-dimensional environment of the region to be updated has changed. For example, the positions of furniture such as dining tables and chairs in a home environment have changed. Since the fourth sensing data is acquired later, the region to be updated can be reconstructed using the fourth sensing data. That is, the sensing subsystem updates the region to be updated corresponding to the fourth sensing data based on the acquired sensing data (i.e., the fourth sensing data).

[0170] In the technical solution provided in this application embodiment, during the process of controlling the movement of the drive subsystem using the 3D map stored in the sensing subsystem, fourth sensing data is collected. If the fourth sensing data differs from the sensing data of the area to be updated corresponding to the fourth sensing data, the area to be updated is reconstructed using the fourth sensing data. In this way, the sensing subsystem continues to collect sensing data (i.e., the fourth sensing data) while controlling the movement of the drive subsystem, and dynamically updates the 3D map stored in the sensing subsystem based on the fourth sensing data, ensuring the accuracy of the 3D map.

[0171] In addition, when updating the 3D map stored in the sensing subsystem, the sensing subsystem only updates the area to be updated that corresponds to the fourth sensing data stored in the sensing subsystem, thereby reducing the resource consumption of the sensing subsystem.

[0172] In one embodiment of this application, a method for constructing a three-dimensional map is also provided, such as... Figure 11 As shown, the method may include steps S111-S116. Steps S111-S113 are the same as steps S31-S33 above, and will not be described again here.

[0173] Step S114: Receive the fourth 3D map sent by the preset device. The fourth 3D map is a 3D map constructed by the preset device based on the sensor data collected by the preset device.

[0174] In this embodiment, the preset device itself can collect sensor data and construct a three-dimensional map, i.e., a fourth three-dimensional map, based on the collected sensor data. The preset device sends the fourth three-dimensional map to the sensing subsystem. The implementation method of the preset device constructing the three-dimensional map can be found in the relevant description of step S43.

[0175] The sensing subsystem receives the fourth 3D map sent by the preset device and can save it locally on the sensing subsystem.

[0176] Step S115: Determine the target 3D map from the fourth 3D map and the 3D map stored in the sensing subsystem.

[0177] The sensing subsystem stores a three-dimensional map, which can be the first, second, or third three-dimensional map mentioned in the above steps, without any limitation.

[0178] The sensing subsystem compares the received fourth-dimensional map with the stored 3D map to determine the target 3D map. Different target 3D maps can be determined based on different practical needs.

[0179] In an optional embodiment, the sensing subsystem compares the construction times of the fourth 3D map and the 3D maps stored in the sensing subsystem. From these two maps, the 3D map with the latest construction time can be determined as the target 3D map. In this embodiment, the 3D map with the latest construction time is obtained by updating the map based on the latest sensing data. This results in a target 3D map that better displays the latest status of the area where the 3D map is located, such as whether the 3D environment in the area has changed.

[0180] In another optional embodiment, the sensing subsystem compares the number of blank areas in the fourth 3D map and the 3D maps stored in the sensing subsystem. From the fourth 3D map and the 3D maps stored in the sensing subsystem, the 3D map with the fewest blank areas can be determined as the target 3D map. In this embodiment, the 3D map with the fewest blank areas is also the 3D map with the highest completeness, thus the target 3D map can better display the overall picture of the area where the 3D map is located.

[0181] Step S116: Use the target 3D map to control the movement of the drive subsystem.

[0182] After determining the target 3D map, the sensing subsystem can use the target 3D map to determine the navigation route and plan of the mobile robot, and the sensing subsystem controls the movement of the drive subsystem based on the navigation route and plan.

[0183] In the technical solution provided in this application embodiment, the sensing data can be collected not only through the sensing subsystem, but also through a preset device. The collected sensing data can also be used to construct a three-dimensional map (i.e., a fourth three-dimensional map) in the preset device. In this way, the consumption of spatial and computing resources of the sensing subsystem can be greatly reduced.

[0184] Furthermore, the sensing subsystem determines the target 3D map based on the user's actual needs from the fourth 3D map and the 3D maps stored in the sensing subsystem, thereby enabling the sensing subsystem to control the movement of the drive subsystem. In this way, different target 3D maps can be determined based on different user needs, increasing user-friendliness and improving the applicability of the 3D map construction method.

[0185] The following is combined with Figure 12 The flowchart shown illustrates the three-dimensional map construction method provided in this disclosure.

[0186] Step S121: Check if the sensing subsystem is working independently, i.e., whether the connection between the sensing subsystem and the drive subsystem is interrupted. If yes, proceed to step S124; otherwise, proceed to step S122. The implementation of step S121 can be found in the relevant description of step S31.

[0187] Step S122: Does a 3D map exist in the sensing subsystem? If so, proceed to step S123.

[0188] In step S123, the sensing subsystem operates using the stored 3D map. That is, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is not interrupted, it uses the 3D map stored in the sensing subsystem to control the movement of the drive subsystem. The implementation of step S123 can be found in the relevant descriptions of steps S94-95.

[0189] In step S124, the sensing subsystem collects sensing data and saves it locally or wirelessly transmits it to a preset device. The implementation of step S124 can be found in the relevant descriptions of steps S32 and S43.

[0190] In this embodiment, "local" refers to the sensing subsystem. If the sensing subsystem detects a connection interruption between itself and the drive subsystem, it collects first sensing data and saves it locally. The sensing subsystem then sends the first sensing data to a preset device, enabling the preset device to construct a first 3D map matching the first sensing data.

[0191] Step S125: Has the sensing subsystem returned to its original position? That is, has the connection between the sensing subsystem and the drive subsystem been restored after the connection was interrupted? If yes, proceed to step S126; otherwise, proceed to step S124.

[0192] In this embodiment, the sensing subsystem monitors whether the connection between the sensing subsystem and the driving subsystem is restored after an interruption. If so, step S126 is executed, and the sensing subsystem acquires a 3D map from a preset device. If not, step S124 is executed, and the sensing subsystem collects sensing data and saves it locally or wirelessly transmits it to the preset device. The implementation of step S125 can be found in the relevant descriptions of steps S33 and S44.

[0193] In step S126, the sensing subsystem acquires a 3D map from a preset device. Specifically, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem has been restored, it acquires the first 3D map constructed by the preset device. The implementation of step S126 can be found in the relevant description in step S44.

[0194] Step S127: Does the sensing subsystem have a 3D map? If yes, proceed to step S123; otherwise, proceed to step S128. The implementation of step S127 can be found in the relevant description of step S65.

[0195] Step S127 is to determine whether a 3D map has been obtained from a preset device. If yes, proceed to step S123; otherwise, proceed to step S128.

[0196] In step S128, the sensing subsystem performs 3D reconstruction using its local SOC. Specifically, if the sensing subsystem fails to acquire the first 3D map constructed by the preset device, it reconstructs a first 3D map matching the first sensing data using the SOC within the sensing subsystem. Subsequently, step S123 is executed. The implementation of step S128 can be found in the relevant description in step S65.

[0197] Corresponding to the above-described 3D map construction method, this application provides a sensing subsystem, such as... Figure 13 As shown, the sensing subsystem is a subsystem of the mobile robot. The mobile robot also includes a drive subsystem. The sensing subsystem can be detachably connected to the drive subsystem. The sensing subsystem includes:

[0198] Monitoring module 131 is used to monitor the connection between the sensing subsystem and the drive subsystem;

[0199] The acquisition module 132 is used to acquire first sensing data if the connection between the sensing subsystem and the drive subsystem is interrupted.

[0200] Processor 133 is used to construct a first three-dimensional map using first sensor data.

[0201] Optionally, the sensing subsystem also includes a communication module, wherein:

[0202] The communication module is used to send the first sensing data to a preset device so that the preset device can construct a first three-dimensional map that matches the first sensing data. The preset device is a terminal or a server.

[0203] The processor 133 can also be used to obtain a first three-dimensional map constructed by a preset device through the communication module if the connection between the sensing subsystem and the drive subsystem is restored.

[0204] Optionally, processor 133 can also be used for:

[0205] If the first 3D map constructed by the preset device is not obtained, a new 3D map matching the first sensor data is constructed.

[0206] Optionally, the processor 133 can also be used for:

[0207] After constructing the first 3D map, the first 3D map is sent to a preset device via a communication module so that the preset device can display the first 3D map, which includes hollow areas.

[0208] The second sensor data of the cavity area is collected through the acquisition module;

[0209] Using the second sensor data, the empty areas in the first three-dimensional map are constructed to obtain the second three-dimensional map.

[0210] Optionally, the sensing subsystem may also include:

[0211] The control module, if it detects that the connection between the sensing subsystem and the drive subsystem is uninterrupted, uses the 3D map stored in the sensing subsystem to control the movement of the drive subsystem; or,

[0212] The control module is used to construct and store a third 3D map using the third sensor data stored in the sensor subsystem if it detects that the connection between the sensing subsystem and the drive subsystem is not interrupted and the sensing subsystem does not store a 3D map; and to control the movement of the drive subsystem using the third 3D map stored in the sensing subsystem.

[0213] Optionally, the control module can also be used for:

[0214] During the process of controlling the movement of the drive subsystem by using the 3D map stored in the sensing subsystem, the fourth sensing data is collected through the acquisition module. The fourth sensing data corresponds to the area to be updated in the 3D map stored in the sensing subsystem.

[0215] If the fourth sensor data differs from the sensor data used to construct the area to be updated, then the fourth sensor data is used to reconstruct the area to be updated.

[0216] Optionally, the processor 133 can also be used for:

[0217] The communication module receives a fourth 3D map sent by a preset device. The fourth 3D map is a 3D map constructed by the preset device based on the sensor data collected by the preset device, which is a terminal or a server.

[0218] The target 3D map is determined from the 3D maps stored in the fourth 3D map and the sensing subsystem.

[0219] Optional, processor 133, specifically can be used for:

[0220] The 3D map with the latest construction time is determined from the 3D maps stored in the fourth 3D map and the sensing subsystem, and is used as the target 3D map.

[0221] Optionally, the monitoring module 131 can be used for:

[0222] Monitor the electrical signals transmitted from the drive subsystem to the sensing subsystem;

[0223] If an electrical signal is detected, it is determined that the connection between the sensing subsystem and the drive subsystem is not interrupted;

[0224] If no electrical signal is detected, it is determined that the connection between the sensing subsystem and the drive subsystem is interrupted.

[0225] In the technical solution provided in this application embodiment, if the sensing subsystem detects that the connection between the sensing subsystem and the drive subsystem is not interrupted, the drive subsystem is controlled to move using the 3D map stored in the sensing subsystem. This allows the mobile robot to function using the 3D map constructed by the sensing subsystem.

[0226] In the technical solution provided in this application embodiment, the mobile robot includes a sensing subsystem and a drive subsystem, and the sensing subsystem is detachably connected to the drive subsystem. When the sensing subsystem monitors the connection between the sensing subsystem and the drive subsystem, if it detects an interruption in the connection, it collects sensing data (i.e., first sensing data). Thus, because the connection between the sensing subsystem and the drive subsystem is interrupted, the sensing subsystem is not affected by the drive subsystem when collecting the first sensing data; that is, it is not limited by the mobile robot's viewpoint. In this case, the area corresponding to the first sensing data collected by the sensing subsystem is more comprehensive. The sensing subsystem uses the first sensing data to construct a 3D map (i.e., a first 3D map), which can result in a higher degree of completeness of the first 3D map, solving the problem of low completeness of the 3D map constructed due to the limited viewpoint of the mobile robot.

[0227] Corresponding to the above-described 3D map construction method, this application also provides a sensing subsystem, such as... Figure 14 As shown, it includes a processor 141 and a memory 142. The memory 142 stores computer program instructions that can be executed by the processor 141. The processor 141 is prompted by the computer program instructions to implement the steps of any of the above-described three-dimensional map construction methods.

[0228] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0229] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0230] In another embodiment provided in this application, a mobile robot is also provided, including a sensing subsystem and a drive subsystem, wherein the sensing subsystem is detachably connected to the drive subsystem.

[0231] The sensing subsystem is used to monitor the connection between the sensing subsystem and the drive subsystem; if the connection between the sensing subsystem and the drive subsystem is interrupted, the first sensing data is collected; and the first sensing data is used to construct a first three-dimensional map.

[0232] In another embodiment provided in this application, a three-dimensional map construction system is also provided, such as... Figure 15 As shown, it includes a mobile robot 151 and a preset device 152, wherein the preset device 152 is a terminal or a server;

[0233] Mobile robot 151 includes a sensing subsystem and a drive subsystem, the sensing subsystem being detachably connected to the drive subsystem; the sensing subsystem is used to monitor the connection between the sensing subsystem and the drive subsystem; if an interruption in the connection between the sensing subsystem and the drive subsystem is detected, first sensing data is collected; and a first three-dimensional map is constructed using the first sensing data.

[0234] The terminal is used to acquire first sensing data collected by the sensing subsystem; construct a first three-dimensional map that matches the first sensing data; display the first three-dimensional map and send the first three-dimensional map to the sensing subsystem;

[0235] The server is used to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map that matches the first sensing data; and send the first three-dimensional map to the sensing subsystem.

[0236] In another embodiment provided in this application, a three-dimensional map construction system is also provided, such as... Figure 16 As shown, it includes a mobile robot 161, a terminal 162, and a server 163;

[0237] Mobile robot 161 includes a sensing subsystem and a drive subsystem, the sensing subsystem being detachably connected to the drive subsystem; the sensing subsystem is used to monitor the connection between the sensing subsystem and the drive subsystem; if an interruption in the connection between the sensing subsystem and the drive subsystem is detected, first sensing data is collected; and a first three-dimensional map is constructed using the first sensing data.

[0238] Terminal 162 is used to acquire first sensing data collected by the sensing subsystem; construct a first three-dimensional map matching the first sensing data; display the first three-dimensional map and send the first three-dimensional map to the sensing subsystem;

[0239] Server 163 is used to acquire the first sensing data collected by the sensing subsystem; construct a first three-dimensional map that matches the first sensing data; and send the first three-dimensional map to the sensing subsystem.

[0240] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described three-dimensional map construction methods.

[0241] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the three-dimensional map construction methods described above.

[0242] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0243] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0244] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for sensing subsystems, storage media, mobile robots, 3D map building systems, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0245] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A three-dimensional map construction method characterized by comprising: The application is applied to a sensing subsystem of a mobile robot, the mobile robot further comprises a driving subsystem, the sensing subsystem is detachably connected with the driving subsystem, and the method comprises the following steps: Monitoring the connection between the sensing subsystem and the driving subsystem; If the connection between the sensing subsystem and the driving subsystem is monitored to be interrupted, first sensing data is collected, wherein the interruption of the connection between the sensing subsystem and the driving subsystem represents that the sensing subsystem is separated from the driving subsystem and the sensing subsystem can move without being limited by the driving subsystem; First three-dimensional map is constructed by using the first sensing data.

2. The method of claim 1, wherein, The step of constructing the first three-dimensional map by using the first sensing data comprises the following steps: The first sensing data is sent to a preset device, so that the preset device constructs the first three-dimensional map matched with the first sensing data, and the preset device is a terminal or a server; If the connection between the sensing subsystem and the driving subsystem is monitored to be restored, the first three-dimensional map constructed by the preset device is obtained.

3. The method of claim 2, wherein, The method further comprises the following steps: If the first three-dimensional map constructed by the preset device is not obtained, the first three-dimensional map matched with the first sensing data is reconstructed by using a system on chip (SOC) in the sensing subsystem.

4. The method of claim 1, wherein, The step of constructing the first three-dimensional map by using the first sensing data comprises the following steps: The first three-dimensional map matched with the first sensing data is constructed by using the SOC in the sensing subsystem.

5. The method of claim 4, wherein, After the first three-dimensional map is obtained, the method further comprises the following steps: The first three-dimensional map is sent to a preset device, so that the preset device displays the first three-dimensional map, the first three-dimensional map comprises a hollow area, and the preset device is a terminal or a server; Second sensing data of the hollow area is collected; The second three-dimensional map is obtained by constructing the hollow area in the first three-dimensional map by using the second sensing data.

6. The method according to any of claims 2-3 and 5, characterized by, The preset device has a display screen for displaying a three-dimensional map.

7. The method of claim 1, wherein, The method further comprises the following steps: If the connection between the sensing subsystem and the driving subsystem is monitored to be uninterrupted, the driving subsystem is controlled to move by using a three-dimensional map stored in the sensing subsystem; or If the connection between the sensing subsystem and the driving subsystem is monitored to be uninterrupted and no three-dimensional map is stored in the sensing subsystem, the third three-dimensional map is constructed and stored by using third sensing data stored in the sensing subsystem, and the driving subsystem is controlled to move by using the third three-dimensional map stored in the sensing subsystem.

8. The method of claim 7, wherein, In the process of controlling the driving subsystem to move by using the three-dimensional map stored in the sensing subsystem, the method further comprises the following steps: Fourth sensing data is collected, the fourth sensing data corresponds to an area to be updated in the three-dimensional map stored in the sensing subsystem; If the fourth sensing data is different from sensing data used for constructing the area to be updated, the area to be updated is reconstructed by using the fourth sensing data.

9. The method according to any one of claims 1-5 and 7-8, characterized in that, The method further comprises the following steps: receive a fourth three-dimensional map sent by a preset device, the fourth three-dimensional map being a three-dimensional map constructed by the preset device according to sensing data collected by the preset device, the preset device being a terminal or a server; determine a target three-dimensional map from the fourth three-dimensional map and a three-dimensional map stored in the sensing subsystem; control the driving subsystem to move by using the target three-dimensional map.

10. The method of claim 9, wherein, The step of determining the target three-dimensional map from the fourth three-dimensional map and the three-dimensional map stored in the sensing subsystem comprises: determine a three-dimensional map with the latest construction time from the fourth three-dimensional map and the three-dimensional map stored in the sensing subsystem as the target three-dimensional map.

11. The method according to any one of claims 1-5 and 7-8, characterized in that, The step of monitoring the connection between the sensing subsystem and the driving subsystem comprises: monitor an electrical signal transmitted by the driving subsystem to the sensing subsystem; if the electrical signal is monitored, determine that the connection between the sensing subsystem and the driving subsystem is not interrupted; if the electrical signal is not monitored, determine that the connection between the sensing subsystem and the driving subsystem is interrupted.

12. A sensing subsystem, comprising: The sensing subsystem is a subsystem of a mobile robot, the mobile robot further comprising a driving subsystem, the sensing subsystem being detachably connected to the driving subsystem, the sensing subsystem comprising: a monitoring module configured to monitor the connection between the sensing subsystem and the driving subsystem; a collecting module configured to collect first sensing data if the connection between the sensing subsystem and the driving subsystem is monitored to be interrupted, wherein the interruption of the connection between the sensing subsystem and the driving subsystem indicates that the sensing subsystem is separated from the driving subsystem and the sensing subsystem can move without being restricted by the driving subsystem; a processor configured to construct a first three-dimensional map by using the first sensing data.

13. The sensing sub-system of claim 12, wherein, Further comprising a communication module, wherein: the communication module is configured to send the first sensing data to a preset device, so that the preset device constructs a first three-dimensional map matching the first sensing data, the preset device being a terminal or a server; the processor is further configured to, if the connection between the sensing subsystem and the driving subsystem is monitored to be restored, acquire the first three-dimensional map constructed by the preset device through the communication module.

14. The sensing sub-system of claim 13, wherein, The processor is further configured to: if the first three-dimensional map constructed by the preset device is not acquired, reconstruct the first three-dimensional map matching the first sensing data.

15. The sensing sub-system of claim 13, wherein, The processor is further configured to: after constructing the first three-dimensional map, send the first three-dimensional map to the preset device through the communication module, so that the preset device displays the first three-dimensional map, the first three-dimensional map comprising a hollow area; collect second sensing data of the hollow area through the collecting module; construct the hollow area in the first three-dimensional map by using the second sensing data to obtain a second three-dimensional map.

16. The sensing sub-system of claim 12, wherein, The sensing subsystem further comprises: a control module, configured to: if it is monitored that the connection between the sensing subsystem and the driving subsystem is not interrupted, control the driving subsystem to move by using the three-dimensional map stored in the sensing subsystem; or the control module is configured to: if it is monitored that the connection between the sensing subsystem and the driving subsystem is not interrupted, and no three-dimensional map is stored in the sensing subsystem, construct and store a third three-dimensional map by using the third sensing data stored in the sensing subsystem; and control the driving subsystem to move by using the third three-dimensional map stored in the sensing subsystem.

17. The sensing sub-system of claim 16, wherein, The control module is further configured to: acquire fourth sensing data by the acquisition module during the process of controlling the driving subsystem to move by using the three-dimensional map stored in the sensing subsystem, the fourth sensing data corresponding to an area to be updated in the three-dimensional map stored in the sensing subsystem; if the fourth sensing data is different from the sensing data used to construct the area to be updated, reconstruct the area to be updated by using the fourth sensing data.

18. The sensing sub-system of any of claims 12-17, wherein, Further comprising a communication module, wherein: the processor is further configured to receive a fourth three-dimensional map sent by a preset device through the communication module, the fourth three-dimensional map being a three-dimensional map constructed by the preset device according to sensing data collected by the preset device, the preset device being a terminal or a server; and determine a target three-dimensional map from the fourth three-dimensional map and the three-dimensional map stored in the sensing subsystem.

19. The sensing sub-system of claim 18, wherein, The processor is specifically configured to: determine a three-dimensional map constructed at the latest time as the target three-dimensional map from the fourth three-dimensional map and the three-dimensional map stored in the sensing subsystem.

20. The sensing sub-system of any of claims 12-17, wherein, The monitoring module is specifically configured to: monitor an electrical signal transmitted by the driving subsystem to the sensing subsystem; if the electrical signal is monitored, determine that the connection between the sensing subsystem and the driving subsystem is not interrupted; if the electrical signal is not monitored, determine that the connection between the sensing subsystem and the driving subsystem is interrupted.

21. A sensing subsystem, comprising: include a memory and a processor, the memory having computer program instructions stored thereon; the processor is configured to execute the instructions stored on the memory to perform the method steps according to any one of claims 1-11.

22. A mobile robot, characterized by include a sensing subsystem and a driving subsystem, the sensing subsystem being detachably connected with the driving subsystem; the sensing subsystem is configured to monitor the connection between the sensing subsystem and the driving subsystem; if it is monitored that the connection between the sensing subsystem and the driving subsystem is interrupted, acquire first sensing data; construct a first three-dimensional map by using the first sensing data, wherein the interruption of the connection between the sensing subsystem and the driving subsystem indicates that the sensing subsystem is separated from the driving subsystem, and the sensing subsystem can move without being limited by the driving subsystem.

23. A three-dimensional map building system, characterized by, include a mobile robot and a preset device, the preset device being a terminal or a server; The mobile robot comprises a sensing subsystem and a driving subsystem, the sensing subsystem is detachably connected with the driving subsystem; the sensing subsystem is used for monitoring the connection between the sensing subsystem and the driving subsystem; If the connection between the sensing subsystem and the driving subsystem is monitored to be interrupted, first sensing data is collected; The first three-dimensional map is constructed by using the first sensing data, wherein the interruption of the connection between the sensing subsystem and the driving subsystem represents that the sensing subsystem is separated from the driving subsystem and the sensing subsystem can move without being limited by the driving subsystem; The terminal is used for acquiring the first sensing data collected by the sensing subsystem, constructing the first three-dimensional map matched with the first sensing data, displaying the first three-dimensional map, and sending the first three-dimensional map to the sensing subsystem; The server is used for acquiring the first sensing data collected by the sensing subsystem, constructing the first three-dimensional map matched with the first sensing data, and sending the first three-dimensional map to the sensing subsystem.

24. A three-dimensional map building system, characterized by, The system comprises a mobile robot, a terminal and a server; The mobile robot comprises a sensing subsystem and a driving subsystem, the sensing subsystem is detachably connected with the driving subsystem; the sensing subsystem is used for monitoring the connection between the sensing subsystem and the driving subsystem; If the connection between the sensing subsystem and the driving subsystem is monitored to be interrupted, first sensing data is collected; The first three-dimensional map is constructed by using the first sensing data, wherein the interruption of the connection between the sensing subsystem and the driving subsystem represents that the sensing subsystem is separated from the driving subsystem and the sensing subsystem can move without being limited by the driving subsystem; The terminal is used for acquiring the first sensing data collected by the sensing subsystem, constructing the first three-dimensional map matched with the first sensing data, displaying the first three-dimensional map, and sending the first three-dimensional map to the sensing subsystem; The server is used for acquiring the first sensing data collected by the sensing subsystem, constructing the first three-dimensional map matched with the first sensing data, and sending the first three-dimensional map to the sensing subsystem.

25. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method steps of any one of claims 1-11.

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